CN104217217A - Vehicle logo detection method and system based on two-layer classification - Google Patents
Vehicle logo detection method and system based on two-layer classification Download PDFInfo
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Abstract
The invention discloses a vehicle logo detection method based on two-layer classification. The method comprises the following steps: firstly acquiring a vehicle logo and background in a windshield image in a training data set, and then respectively training a vehicle logo image block detector and a vehicle logo image block classifier; for a test image, firstly acquiring gradient feature vectors of image blocks in the image, and acquiring a candidate vehicle logo image block by using the trained vehicle logo detector, and then computing a HOG (histogram of oriented gradients) feature vector, an LBP feature vector and a color histogram feature vector for the acquired candidate vehicle logo image block, splicing the computed vectors into the feature vector of the image block, and classifying by using the trained vehicle logo classifier to acquire the category of the vehicle logo. The vehicle logo detection process disclosed by the invention is simple and easy to implement, the detection accuracy is high, and the detection speed is fast.
Description
Technical field
The invention belongs to technical field of computer vision, more specifically, relate to a kind of vehicle mark object detecting method and system based on two layers of classified.
Background technology
Along with the quantity of motor vehicles on road is more and more, traffic accident or the case taking motor vehicle as tool used in crime are more and more, although the vehicle personal identification methods such as the identification of traditional car plate, vehicle color identification can play very large effect to investigation suspected vehicles, but these methods cannot further be dwindled investigation scope, and owing to changing the existence of the phenomenons such as vehicle color, fake-licensed car, make traditional testing vehicle register recognition methods may miss suspected vehicles, cause difficulty to cracking of cases.Vehicle mark thing refers to vehicle annual test mark, sunshading board and the article such as vehicle ornament, paper towel box after windshield on the windshield of vehicle.Vehicle mark quality testing survey technology is taking technology such as Digital Image Processing, pattern-recognition, computer visions as basis, requirement can detect the marks such as annual test mark, sunshading board, ornament, paper towel box from the image of vehicle windscreen, by the information of these vehicle mark things, can find out rapidly and accurately suspected vehicles, and can not be subject to the impact that vehicle appearance changes.
Vehicle mark quality testing survey technology has very large advantage compared with other testing vehicle register recognition method.First be its property distinguished: the mark of different vehicle all can be very different on quantity, outward appearance, position, therefore can be by the identity of the information identification such as quantity, the position vehicle of mark; Then be its location invariance: the position of the article such as the annual test mark of vehicle, sunshading board, ornament is basic fixing, generally can be because the factor such as vehicle maintenance, cosmetic variation changes, thereby the information of vehicles obtaining by vehicle mark thing has higher reliability.Finally the convenience that vehicle mark object image gathers: the vehicle mark thing in image is all that position is fixed on the windshield of vehicle, the collection of conveniently taking pictures.
Summary of the invention
The object of the present invention is to provide a kind of vehicle mark object detecting method based on two layers of classified, the method vehicle mark thing testing process is simple, and Detection accuracy is high.
For achieving the above object, the invention provides a kind of vehicle mark object detecting method based on two layers of classified, comprise the steps:
(1) train the vehicle mark object image piece detecting device for detection of the mark in car windshield image:
(1.1) every car windshield image training image being concentrated, the vehicle mark object area and the background area that obtain this car windshield image;
Particularly, to given training plan image set, vehicle mark thing rectangle frame in every car windshield image training image being concentrated by the method for artificial mark is marked, rectangle frame region is vehicle mark object area, other regions of car windshield image are background area, and the mark in wherein said car windshield image comprises annual test mark, sunshading board, ornament, paper towel box;
(1.2) every car windshield image training image being concentrated, obtains gradient map corresponding to this car windshield image;
Particularly, to every car windshield image of given training plan image set, first be converted into gray level image, then obtain the gradient map that this gray level image is corresponding, the width of gradient map is with highly all identical with gray level image, and the value of each pixel is the absolute value of gray level image in the gradient at this some place in gradient map, it is an integer between 0-255;
(1.3), according to gradient map corresponding to car windshield image of obtaining in the vehicle mark object area in the car windshield image of obtaining in step (1.1) and step (1.2), obtain the Gradient Features vector of every vehicle mark thing in car windshield image:
(1.3.1) to the vehicle mark object area obtaining, obtain the gradient subgraph that coordinate is identical with it in gradient map in the concentrated car windshield image of training image;
(1.3.2) the gradient subgraph obtaining is carried out to convergent-divergent, make its width and be highly 8 pixels, obtain the gradient subgraph after convergent-divergent;
(1.3.3) the gradient subgraph after the convergent-divergent obtaining is converted to Gradient Features vector, correspond to by the value of each coordinate points in gradient subgraph in a certain dimension of Gradient Features vector, value as Gradient Features vector in this dimension, obtains one the 64 Gradient Features vector of tieing up;
(1.4) training random forest sorter:
(1.4.1) to all vehicle mark object areas that obtain in step (1.1), compute gradient proper vector;
(1.4.2) background area in every training image, randomly draws the yardstick image block identical with vehicle mark thing of some, and calculates the Gradient Features vector of each image block;
(1.4.3) taking the Gradient Features vector of all vehicle mark things of obtaining in step (1.4.1) as positive sample, train random forest sorter taking the Gradient Features vector of all vehicle background image pieces of obtaining in step (1.4.2) for negative sample, the sorter training is vehicle mark thing detecting device, and this vehicle mark thing detecting device can detect the vehicle mark object image piece in image block to be identified.
(2) the vehicle mark thing sorter of training for vehicle mark thing is classified:
(2.1) obtain vehicle mark object area image block and background area image piece in every car windshield image of training plan image set, set it as the training image blocks collection of vehicle mark thing sorter;
Particularly, concentrate all annual test marks that obtain by the method for artificial mark at training image, sunshading board, the vehicle such as ornament and paper towel box mark area image piece forms respectively annual test mark image block collection, sunshading board image block collection, ornament image block collection and paper towel box image block collection, concentrate at training image the image block that in the background area in every training image, random acquisition yardstick is 50 × 50, all image blocks that gather in background area are as the concentrated background image piece collection of vehicle mark thing sorter training sample, the annual test mark image block collection obtaining like this, sunshading board image block collection, ornament image block collection, paper towel box image block collection and background image piece collection have just formed the training image blocks collection of vehicle mark thing sorter,
(2.2) obtain vehicle mark thing sorter training image blocks and concentrate the mark proper vector of each image block;
(2.2.1) each image block of training image blocks being concentrated carries out change of scale, makes its width and is highly 50 pixels;
(2.2.2) training image blocks after change of scale is divided into 25 regions, the size in each region is 10 × 10;
(2.2.3) to a the region of dividing, calculate the wherein histograms of oriented gradients of each pixel (Histogram of oriented gradients, HOG) feature, be designated as hog
a=[H
1, H
2..., H
m], wherein M is the interval number of default histograms of oriented gradients, its HOG proper vector is all calculated in 25 regions dividing, and all proper vectors are stitched together, and just obtains the HOG proper vector of training image blocks, is hog=[hog
1, hog
2..., hog
25], hog proper vector is the vector of 25 × M dimension;
(2.2.4) to a the region of dividing, calculate the wherein local binary patterns of each pixel (Local Binary Pattern, LBP) feature, all LBP features that calculate are carried out to statistics with histogram, the LBP proper vector that obtains this region, is designated as lbp
a=[L
1, L
2..., L
p], wherein P is the interval number of the statistic histogram of default LBP proper vector, its LBP proper vector is all calculated in 25 regions dividing, and all proper vectors are stitched together, and just obtains the LBP proper vector of training image blocks, is lbp=[lbp
1, lbp
2..., lbp
25], lbp proper vector is the vector of 25 × P dimension;
(2.2.5) to a the region of dividing, the gray-scale value of three passages of red, green, blue to all pixels in this region does statistics with histogram respectively, obtains the statistic histogram of three passages, is designated as respectively r
a=[R
1, R
2..., R
q], g
a=[G
1, G
2..., G
q], b
a=[B
1, B
2..., B
q], wherein Q is the interval number of the gray-scale value statistic histogram of default three passages of red, green, blue, and the statistic histogram of three passages is stitched together, and just can obtain the color histogram feature in this region, is designated as rgb
a=[r
a, g
a, b
a], be the vector of a 3 × Q; Its color histogram feature is all calculated in 25 regions dividing, and all proper vectors are stitched together, just obtain the color histogram proper vector of training image blocks, be rgb=[rgb
1, rgb
2..., rgb
25], be the vector of 75 × Q dimension;
(2.2.6) the HOG proper vector of the training image blocks calculating, LBP proper vector and color histogram proper vector are stitched together, just obtain the mark proper vector of training image blocks, be f=[hog, lbp, rgb];
(2.3) training multi-class support vector machine sorter;
Particularly, annual test mark feature set, sunshading board feature set, ornament feature set, paper towel box feature set and the background characteristics collection obtaining in step (2.2) is as the training dataset training multi-class support vector machine sorter of multi-class support vector machine sorter, and the multi-class support vector machine sorter that training obtains can be classified different vehicle mark things as the vehicle mark thing sorter that vehicle mark thing is classified.
(3) obtain in car windshield image to be detected candidate's vehicle mark object image piece:
(3.1) to car windshield image to be detected, according to the gradient map of (1.2) step computed image;
(3.2) in car windshield image to be detected, gather image block, obtain the Gradient Features vector of image block according to the gradient map of the car windshield image obtaining in step (3.1):
(3.2.1) to car windshield image to be detected, be 1 collection N kind different scale images piece by step-length, the yardstick of image block is
wherein N is default image block yardstick number, and i represents the index value of different images piece yardstick, Wid
iand Hei
ifor i default convergent-divergent yardstick Scale
iwidth and height, be empirical value;
(3.2.2) to the image block gathering, obtain the gradient subgraph in same coordinate region in gradient map corresponding to car windshield image;
(3.2.3) the gradient subgraph obtaining is carried out to yardstick convergent-divergent, make its width and be highly 8 pixels, and be converted into gradient vector;
(3.2.4), to each image block gathering on test pattern, all obtain the Gradient Features vector of image block according to (3.2.2) to (3.2.3) step;
(3.3) according to the Gradient Features vector of the image block gathering in above-mentioned car windshield image to be detected;
Particularly, utilize the random forest sorter training in step (1) to classify to the image block Gradient Features vector obtaining, so just the image block in test pattern is divided into vehicle mark thing and background two kinds, the image block that is wherein divided into vehicle mark thing is candidate's vehicle mark object image piece.
(4) to the candidate's vehicle mark object image block sort in car windshield image to be detected:
(4.1) obtain the mark proper vector of the candidate's vehicle mark object image piece in car windshield image to be detected;
Particularly, to the candidate's vehicle mark object image piece obtaining, utilize the method calculation flag thing proper vector of step (2.2);
(4.2) obtain the classification results of candidate image piece:
Particularly, utilize the multi-class support vector machine sorter obtaining in step (2) to classify to the mark proper vector of candidate's vehicle mark object image piece, so just candidate's vehicle mark object image piece is divided into annual test mark, sunshading board, ornament, paper towel box and 5 classifications of background, the image block that is wherein divided into annual test mark, sunshading board, ornament and paper towel box is and detects the vehicle mark object image piece obtaining.
The invention discloses a kind of vehicle mark object detecting method based on two layers of classified, for the given width car windshield image of user, the present invention can detect the vehicle mark thing in car windshield image, and different vehicle mark things is classified.
To the concentrated car windshield image of training image, first obtain the vehicle mark object area in image, then obtain Gradient Features vector sum HOG proper vector, LBP proper vector, the color histogram proper vector of vehicle mark object image piece, and with Gradient Features vector training linear support vector machine classifier as vehicle mark object image blocking filter, the mark proper vector of the image block being spliced into HOG proper vector, LBP proper vector and color histogram proper vector trains multi-class support vector machine sorter to distinguish different vehicle mark things.
To car windshield image to be detected, first in test pattern, gather image block, and obtain the Gradient Features vector of image block, then the Gradient Features vector of image block is input to the vehicle mark object image piece that obtains candidate in vehicle mark object image blocking filter, the HOG proper vector of calculated candidate vehicle mark object image piece again, LBP proper vector, color histogram proper vector, and be spliced into the mark proper vector of candidate's vehicle mark object image piece, the multicategory classification device finally candidate's vehicle mark object image piece utilization being trained is classified, obtain different vehicle mark things.
According to another aspect of the present invention, a kind of vehicle mark quality testing examining system based on two layers of classified is also provided, described system comprises vehicle mark object image piece detecting device training module, vehicle mark thing sorter training module, candidate's vehicle mark object image piece acquisition module and vehicle mark thing sort module, wherein:
Described system comprises vehicle mark object image piece detecting device training module, vehicle mark thing sorter training module, candidate's vehicle mark object image piece acquisition module and vehicle mark thing sort module, wherein:
Described vehicle mark object image piece detecting device training module, be used for the vehicle mark object image piece detecting device of the mark of training inspection vehicle windshield image, specifically comprise that vehicle mark thing and background area obtain submodule, car windshield image gradient figure calculating sub module, vehicle mark thing and background area Gradient Features vector calculation submodule and random forest sorter training submodule, wherein:
Described vehicle mark thing and background area obtain submodule, for to the concentrated car windshield image of training image, obtain position and the size information of vehicle mark thing in car windshield image, obtain vehicle mark object area and background area in image;
Described car windshield image gradient figure calculating sub module, for calculating gradient map corresponding to car windshield image;
Described vehicle mark thing and background area Gradient Features vector calculation submodule, for calculating the Gradient Features vector of vehicle mark thing and background area;
Described random forest sorter training submodule, for utilizing the vehicle mark thing that obtains and the Gradient Features vector of background area, training random forest sorter, the random forest sorter that training obtains is as the vehicle mark object image piece detecting device of the mark in inspection vehicle windshield image;
Described vehicle mark thing sorter training module, for training the vehicle mark thing sorter that vehicle mark thing is classified, specifically comprises vehicle mark thing and background area proper vector calculating sub module and vehicle mark thing sorter training submodule, wherein:
Described vehicle mark thing and background area proper vector calculating sub module, the vehicle mark object area obtaining for calculation training image set and HOG proper vector, LBP proper vector and the color histogram proper vector of background area, and above-mentioned three proper vectors are spliced into the mark proper vector of image block;
Described vehicle mark thing sorter training submodule, the mark proper vector training multi-class support vector machine sorter of the image block being spliced into for HOG proper vector, LBP proper vector and the color histogram proper vector of utilizing vehicle mark object area and background area to calculate;
Described candidate's vehicle mark object image piece acquisition module, for utilizing the vehicle mark object image piece detector acquisition candidate vehicle mark object image piece training, specifically comprise that car windshield image gradient figure calculating sub module, image block gather submodule, image block Gradient Features vector calculation submodule and candidate's vehicle mark object image piece and obtain submodule, wherein:
Described car windshield image gradient figure calculating sub module, for calculating gradient map corresponding to car windshield image to be detected;
Described image block gathers submodule, for gathering the image block of 4 kinds of different scales in the car windshield image to be detected;
Described image block Gradient Features vector calculation submodule, for calculating the Gradient Features vector of the image block gathering in car windshield image to be detected;
Described candidate's vehicle mark object image piece obtains submodule, for utilizing the vehicle mark thing detector acquisition candidate's who trains vehicle mark object image piece;
Described vehicle mark thing sort module, for distinguishing different classes of vehicle mark thing, specifically comprises mark proper vector calculating sub module and candidate's vehicle mark object image block classifier submodule of candidate's vehicle mark object image piece, wherein:
The mark proper vector calculating sub module of described candidate's vehicle mark object image piece, for calculating HOG proper vector, LBP proper vector and the color histogram proper vector of the candidate's vehicle mark object image piece obtaining, and above-mentioned three proper vectors are spliced into the mark proper vector of image block;
Described candidate's vehicle mark object image block sort submodule, for utilizing vehicle mark thing sorter to classify to the mark proper vector of candidate's vehicle mark object image piece, obtains the classification results of candidate's vehicle mark object image piece.
The above technical scheme of conceiving by the present invention, compared with prior art, the present invention has following technique effect:
1. the detection of the inventive method to vehicle mark thing, adopt and used the method for two layers of classified device to image block classification: ground floor sorter has been vehicle mark object image piece detecting device, filter out for the background image piece in the image block that car windshield image to be detected is gathered, by choosing suitable threshold value, can filter out accurately most background image piece; Second layer sorter is vehicle mark object image block classifier, for the candidate's vehicle mark object image piece obtaining after filtering is classified, obtains final testing result, obtains the vehicle marks such as annual test mark, sunshading board, ornament, paper towel box; By the method for two layers of classified, can detect accurately car bumper wind vehicle mark thing on glass like this; Therefore, the inventive method is high to the Detection accuracy of vehicle mark thing;
2. the negative sample that the image block that uses the background area in training image to obtain in the inventive method training vehicle mark image block detecting device is training linear support vector machine classifier, in training vehicle mark sorter, add the background image piece class as a setting gathering from training image, so just can effectively reduce the impact of picture noise and car bumper wind other article on glass; Therefore, the inventive method can effectively overcome the impact of picture noise and irrelevant article;
3. the detection of the inventive method to vehicle mark thing, used two layers of classified device, the image block characteristics wherein using in ground floor sorter is very simple Gradient Features, and the dimension of feature is very low, only have 64 dimensions, therefore feature calculation speed and image block classification speed are all very fast; Ground floor sorter can detect candidate's vehicle mark object image piece, and filters out most background image piece, therefore only has candidate's vehicle mark object image piece of minority to classify by second layer sorter; Therefore, the inventive method is very fast to the detection speed of vehicle mark object image piece.
Brief description of the drawings
Fig. 1 is the vehicle mark object detecting method process flow diagram that the present invention is based on two layers of classified.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only for explaining the present invention, is not intended to limit the present invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can mutually combine as long as do not form each other conflict.
As shown in Figure 1, the vehicle mark object detecting method that the present invention is based on two layers of classified comprises the following steps:
(1) train the vehicle mark object image piece detecting device for detection of the mark in car windshield image:
(1.1) every car windshield image training image being concentrated, the vehicle mark object area and the background area that obtain this car windshield image;
Particularly, to given training plan image set, the vehicle mark rectangle frames such as annual test mark in every car windshield image training image being concentrated by the method for artificial mark, sunshading board, ornament, paper towel box are marked, each mark is used respectively a rectangle frame mark, obtain and preserve the position of all rectangle frames, rectangle frame region is vehicle mark object area, and other regions of car windshield image are background area;
(1.2) every car windshield image training image being concentrated, obtains gradient map corresponding to this car windshield image;
Particularly, to every car windshield image I tr of given training plan image set, be first converted into gray level image, be designated as Itrg, then obtain the gradient map G of gray level image Itrg, the Grad that in gray-scale map Itrg, certain coordinate points (xg, yg) is located is
G(xg,yg)＝|dxg+dyg|
dxg＝(Itrg(xg+1,yg)-Itrg(xg-1,yg))/2
dyg＝(Itrg(xg,yg+1)-Itrg(xg,yg-1))/2
Wherein Itrg (xg, yg) represent that gray-scale map Itrg is at coordinate points (xg, yg) pixel value of locating, G (xg, yg) be the value that gradient map G locates in coordinate points (xg, yg), each point in gray-scale map Itrg is asked to Grad, just can obtain training image and concentrate the gradient map of car windshield image, in gradient map, the value of each point is the integer between 0 to 255.
(1.3) the vehicle mark object area to the concentrated car windshield image of training image, obtains its Gradient Features vector:
(1.3.1), to the vehicle mark object area obtaining in step (1.1), obtain the gradient subgraph SG that coordinate is identical with it in gradient map G;
(1.3.2) the gradient subgraph SG obtaining is carried out to convergent-divergent, make its width and be highly 8 pixels, obtain the gradient subgraph RSG after convergent-divergent;
(1.3.3) the gradient subgraph RSG after the convergent-divergent obtaining is converted to gradient vector VG, in gradient vector VG, the value of vn dimension is VG (vn)=RSG (xn, yn), wherein RSG (xn, yn) represent the value that gradient subgraph RSG locates in coordinate points (xn, yn), vn=xn+8 × yn, so just can obtain the vectorial VG of one 64 dimension, vectorial VG is the Gradient Features vector of the mark of the concentrated car windshield image of training image;
(1.4) training random forest sorter:
(1.4.1) to all vehicle mark object areas that obtain in step (1.1), the Gradient Features vector according to step (1.3.1) to each vehicle mark object area of process computation of (1.3.3);
(1.4.2) background area in every the training image obtaining in step (1.1), randomly draw the yardstick image block identical with vehicle mark thing of some, and arrive the Gradient Features vector of the each image block of process computation of (1.3.3) according to step (1.3.1);
(1.4.3) taking the Gradient Features vector of all vehicle mark things of obtaining in step (1.4.1) as positive sample, train random forest sorter taking the Gradient Features vector of all vehicle background image pieces of obtaining in step (1.4.2) for negative sample, the sorter training is vehicle mark thing detecting device, and this vehicle mark thing detecting device can detect the vehicle mark object image piece in image block to be identified;
(2) the vehicle mark thing sorter of training for vehicle mark thing is classified:
(2.1) obtain vehicle mark object area image block and background area image piece in every car windshield image of training plan image set, set it as the training image blocks collection of vehicle mark thing sorter;
Particularly, concentrate all annual test marks that obtain by the method for artificial mark at training image, sunshading board, the vehicle such as ornament and paper towel box mark area image piece forms respectively annual test mark image block collection, sunshading board image block collection, ornament image block collection and paper towel box image block collection, concentrate at training image the image block that in the background area in every training image, random acquisition yardstick is 50 × 50, all image blocks that gather in background area are as the concentrated background image piece collection of vehicle mark thing sorter training sample, the annual test mark image block collection obtaining like this, sunshading board image block collection, ornament image block collection, paper towel box image block collection and background image piece collection have just formed the training image blocks collection of vehicle mark thing sorter,
(2.2) obtain vehicle mark thing sorter training image blocks and concentrate the mark proper vector of each image block;
(2.2.1) each image block of training image blocks being concentrated carries out change of scale, makes its width and is highly 50 pixels;
(2.2.2) training image blocks after change of scale is divided into 25 regions, the size in each region is 10 × 10;
(2.2.3) to a the region of dividing, calculate the wherein histograms of oriented gradients of each pixel (Histogram of Oriented Gradients, HOG) feature, be designated as hog
a=[H
1, H
2..., H
m], wherein M is the interval number of default histograms of oriented gradients, its HOG proper vector is all calculated in 25 regions dividing, and all proper vectors are stitched together, and just obtains the HOG proper vector of training image blocks, is hog=[hog
1, hog
2..., hog
25], hog proper vector is the vector of 25 × M dimension;
(2.2.4) to a the region of dividing, calculate the wherein local binary patterns of each pixel (Local Binary Pattern, LBP) feature, all LBP features that calculate are carried out to statistics with histogram, the LBP proper vector that obtains this region, is designated as lbp
a=[L
1, L
2..., L
p], wherein P is the interval number of the statistic histogram of default LBP proper vector, its LBP proper vector is all calculated in 25 regions dividing, and all proper vectors are stitched together, and just obtains the LBP proper vector of training image blocks, is lbp=[lbp
1, lbp
2..., lbp
25], lbp proper vector is the vector of 25 × P dimension;
(2.2.5) to a the region of dividing, the gray-scale value of three passages of red, green, blue to all pixels in this region does statistics with histogram respectively, obtains the statistic histogram of three passages, is designated as respectively r
a=[R
1, R
2..., R
q], g
a=[G
1, G
2..., G
q], b
a=[B
1, B
2..., B
q], wherein Q is the interval number of the gray-scale value statistic histogram of default three passages of red, green, blue, and the statistic histogram of three passages is stitched together, and just can obtain the color histogram feature in this region, is designated as rgb
a=[r
a, g
a, b
a], be the vector of a 3 × Q; Its color histogram feature is all calculated in 25 regions dividing, and all proper vectors are stitched together, just obtain the color histogram proper vector of training image blocks, be rgb=[rgb
1, rgb
2..., rgb
25], be the vector of 75 × Q dimension;
(2.2.6) the HOG proper vector of the training image blocks calculating, LBP proper vector and color histogram proper vector are stitched together, just obtain the mark proper vector of training image blocks, be f=[hog, lbp, rgb];
(2.3) training multi-class support vector machine sorter;
Particularly, concentrate the proper vector of all image blocks as the training dataset training multi-class support vector machine sorter of multi-class support vector machine sorter the training image blocks calculating in step (2.2), the multi-class support vector machine sorter that training obtains can be classified different vehicle mark things as the vehicle mark thing sorter that vehicle mark thing is classified.
(3) obtain the candidate's vehicle mark object image piece in car windshield image to be detected:
(3.1) calculate the gradient map of car windshield image to be detected;
Particularly, to car windshield image I te to be detected, according to the gradient map of (1.2) step computed image;
(3.2) in car windshield image to be detected, gather image block, obtain the Gradient Features vector of image block according to the gradient map of the car windshield image obtaining in step (3.1):
(3.2.1) to car windshield image I te to be detected, be 1 collection N kind different scale images piece by step-length, the yardstick of image block is
wherein N is default image block yardstick number, and i represents the index value of different images piece yardstick, Wid
iand Hei
ifor i default convergent-divergent yardstick Scale
iwidth and height, be empirical value;
(3.2.2) to the image block gathering, obtain the gradient subgraph SGte in same coordinate region in the gradient map that car windshield image I te is corresponding;
(3.2.3) the gradient subgraph SGte obtaining is carried out to yardstick convergent-divergent, make its width and be highly 8 pixels, and be converted into gradient vector VGte, in gradient vector VGte, the value of vm dimension is VGte (vm)=SGte (xm, ym), wherein SGte (xm, ym) represent that gradient subgraph SGte is at coordinate points (xm, ym) value of locating, vm=xm+8 × ym, the vectorial VGte that so just can obtain one 64 dimension, vectorial VGte is the Gradient Features vector of the image block obtaining in car windshield image to be detected;
(3.2.4), to upper each image block gathering of test pattern Ite, all obtain the Gradient Features vector of image block according to (3.2.2) to (3.2.3) step;
(3.3), according to the Gradient Features vector of the image block gathering in above-mentioned car windshield image to be detected, obtain candidate's vehicle mark object image piece;
Particularly, utilize the random forest sorter training in step (1) to classify to the image block Gradient Features vector obtaining, so just the image block in test pattern is divided into vehicle mark thing and background two kinds, the image block that is wherein divided into vehicle mark thing is candidate's vehicle mark object image piece.
(4) to the candidate's vehicle mark object image block sort in car windshield image to be detected:
(4.1) obtain the mark proper vector of the candidate's vehicle mark object image piece in car windshield image to be detected;
Particularly, to the candidate's vehicle mark object image piece obtaining, utilize the method calculation flag thing proper vector of step (2.2);
(4.2) obtain the classification results of candidate image piece;
Particularly, utilize the multi-class support vector machine sorter obtaining in step (2) to classify to the mark proper vector of candidate's vehicle mark object image piece, so just candidate's vehicle mark object image piece is divided into annual test mark, sunshading board, ornament, paper towel box and 5 classifications of background, the image block that is wherein divided into annual test mark, sunshading board, ornament and paper towel box is and detects the vehicle mark object image piece obtaining.
Further, the present invention also provides a kind of vehicle mark quality testing examining system based on two layers of classified,
Described system comprises vehicle mark object image piece detecting device training module, vehicle mark thing sorter training module, candidate's vehicle mark object image piece acquisition module and vehicle mark thing sort module, wherein:
Described vehicle mark object image piece detecting device training module, be used for the vehicle mark object image piece detecting device of the mark of training inspection vehicle windshield image, specifically comprise that vehicle mark thing and background area obtain submodule, car windshield image gradient figure calculating sub module, vehicle mark thing and background area Gradient Features vector calculation submodule and random forest sorter training submodule, wherein:
Described vehicle mark thing and background area obtain submodule, for to the concentrated car windshield image of training image, obtain position and the size information of vehicle mark thing in car windshield image, obtain vehicle mark object area and background area in image;
Described car windshield image gradient figure calculating sub module, for calculating gradient map corresponding to car windshield image;
Described vehicle mark thing and background area Gradient Features vector calculation submodule, for calculating the Gradient Features vector of vehicle mark thing and background area;
Described random forest sorter training submodule, for utilizing the vehicle mark thing that obtains and the Gradient Features vector of background area, training random forest sorter, the random forest sorter that training obtains is as the vehicle mark object image piece detecting device of the mark in inspection vehicle windshield image;
Described vehicle mark thing sorter training module, for training the vehicle mark thing sorter that vehicle mark thing is classified, specifically comprises vehicle mark thing and background area proper vector calculating sub module and vehicle mark thing sorter training submodule, wherein:
Described vehicle mark thing and background area proper vector calculating sub module, the vehicle mark object area obtaining for calculation training image set and HOG proper vector, LBP proper vector and the color histogram proper vector of background area, and above-mentioned three proper vectors are spliced into the mark proper vector of image block;
Described vehicle mark thing sorter training submodule, the mark proper vector training multi-class support vector machine sorter of the image block being spliced into for HOG proper vector, LBP proper vector and the color histogram proper vector of utilizing vehicle mark object area and background area to calculate;
Described candidate's vehicle mark object image piece acquisition module, for utilizing the vehicle mark object image piece detector acquisition candidate vehicle mark object image piece training, specifically comprise that car windshield image gradient figure calculating sub module, image block gather submodule, image block Gradient Features vector calculation submodule and candidate's vehicle mark object image piece and obtain submodule, wherein:
Described car windshield image gradient figure calculating sub module, for calculating gradient map corresponding to car windshield image to be detected;
Described image block gathers submodule, for gathering the image block of 4 kinds of different scales in the car windshield image to be detected;
Described image block Gradient Features vector calculation submodule, for calculating the Gradient Features vector of the image block gathering in car windshield image to be detected;
Described candidate's vehicle mark object image piece obtains submodule, for utilizing the vehicle mark thing detector acquisition candidate's who trains vehicle mark object image piece;
Described vehicle mark thing sort module, for distinguishing different classes of vehicle mark thing, specifically comprises mark proper vector calculating sub module and candidate's vehicle mark object image block classifier submodule of candidate's vehicle mark object image piece, wherein:
The mark proper vector calculating sub module of described candidate's vehicle mark object image piece, for calculating HOG proper vector, LBP proper vector and the color histogram proper vector of the candidate's vehicle mark object image piece obtaining, and above-mentioned three proper vectors are spliced into the mark proper vector of image block;
Described candidate's vehicle mark object image block sort submodule, for utilizing vehicle mark thing sorter to classify to the mark proper vector of candidate's vehicle mark object image piece, obtains the classification results of candidate's vehicle mark object image piece.
Claims (10)
1. the vehicle mark object detecting method based on two layers of classified, is characterized in that, described method comprises the steps:
(1) train the vehicle mark object image piece detecting device for detection of the mark in car windshield image:
(1.1) every car windshield image training image being concentrated, the vehicle mark object area and the background area that obtain this car windshield image;
(1.2) every car windshield image training image being concentrated, obtains gradient map corresponding to this car windshield image;
(1.3), according to gradient map corresponding to car windshield image of obtaining in the vehicle mark object area in the car windshield image of obtaining in step (1.1) and step (1.2), obtain the Gradient Features vector of every vehicle mark thing in car windshield image;
(1.4) image block identical with vehicle mark object area yardstick to the background area random acquisition of the car windshield image of obtaining in step (1.2), calculate the Gradient Features vector of background area image piece, according to the Gradient Features vector training random forest sorter of the vehicle mark thing obtaining in the Gradient Features vector of background area image piece and step (1.3), the random forest sorter that training obtains is as the vehicle mark object image piece detecting device of the mark in inspection vehicle windshield image;
(2) the vehicle mark thing sorter of training for vehicle mark thing is classified:
(2.1) obtain vehicle mark object area image block and background area image piece in every car windshield image of training plan image set, set it as the training image blocks collection of vehicle mark thing sorter;
(2.2) obtain vehicle mark thing sorter training image blocks and concentrate the mark proper vector of each image block, described mark proper vector is made up of histograms of oriented gradients proper vector, local binary patterns proper vector and color histogram proper vector;
(2.3) utilize vehicle mark thing sorter training image blocks to concentrate the mark proper vector of each image block, training multi-class support vector machine sorter, the multi-class support vector machine sorter that training obtains is as the vehicle mark thing sorter that vehicle mark thing is classified;
(3) obtain the candidate's vehicle mark object image piece in car windshield image to be detected:
(3.1) calculate the gradient map of car windshield image to be detected;
(3.2) in car windshield image to be detected, gather image block, obtain the Gradient Features vector of image block according to the gradient map of the car windshield image obtaining in step (3.1);
(3.3) according to the Gradient Features vector of the image block gathering in above-mentioned car windshield image to be detected, and the vehicle mark object image piece detecting device obtaining in step (1), obtain the candidate's vehicle mark object image piece in car windshield image to be detected;
(4) to the candidate's vehicle mark object image block sort in car windshield image to be detected:
(4.1) obtain the mark proper vector of the candidate's vehicle mark object image piece in car windshield image to be detected;
(4.2) utilize the vehicle mark thing sorter obtaining in step (2), mark proper vector to the candidate's vehicle mark object image piece in car windshield image to be detected is classified, and obtains the classification results of candidate's vehicle mark object image piece.
2. the vehicle mark object detecting method based on two layers of classified according to claim 1, it is characterized in that, described step (1.1) is specially: to given training plan image set, vehicle mark thing rectangle frame in every car windshield image training image being concentrated by the method for artificial mark is marked, rectangle frame region is vehicle mark object area, other regions of car windshield image are background area, and the vehicle mark thing in wherein said car windshield image comprises annual test mark, sunshading board, ornament, paper towel box.
3. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, it is characterized in that, described step (1.2) is specially: to every car windshield image I tr of given training plan image set, first be converted into gray level image, be designated as Itrg, then obtain the gradient map G of gray level image Itrg, the Grad that in gray-scale map Itrg, certain coordinate points (xg, yg) is located is
G(xg,yg)＝|dxg+dyg|
dxg＝(Itrg(xg+1,yg)-Itrg(xg-1,yg))/2
dyg＝(Itrg(xg,yg+1)-Itrg(xg,yg-1))/2
Wherein Itrg (xg, yg) represent that gray-scale map Itrg is at coordinate points (xg, yg) pixel value of locating, G (xg, yg) be the value that gradient map is located in coordinate points (xg, yg), each point in gray-scale map Itrg is asked to Grad, just can obtain training image and concentrate the gradient map of car windshield image, in gradient map, the value of each point is the integer between 0 to 255.
4. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, is characterized in that, described step (1.3) is specially:
(1.3.1), to the vehicle mark object area in the car windshield image of obtaining in step (1.1), obtain the gradient subgraph SG that coordinate is identical with it in gradient map G;
(1.3.2) the gradient subgraph SG obtaining is carried out to convergent-divergent, make its width and be highly 8 pixels, obtain the gradient subgraph RSG after convergent-divergent;
(1.3.3) the gradient subgraph RSG after the convergent-divergent obtaining is converted to gradient vector VG, in gradient vector VG, the value of vn dimension is VG (vn)=RSG (xn, yn), wherein RSG (xn, yn) represent the value that gradient subgraph RSG locates in coordinate points (xn, yn), vn=xn+8 × yn, obtain the vectorial VG of one 64 dimension, vectorial VG is the Gradient Features vector of the mark of the concentrated car windshield image of training image.
5. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, is characterized in that, described step (1.4) is specially:
(1.4.1) to all vehicle mark object areas that obtain in step (1.1), the process computation Gradient Features vector according to step (1.3.1) to (1.3.3);
(1.4.2) background area in every the training image obtaining in step (1.1), randomly draw the yardstick image block identical with vehicle mark thing of some, and arrive the process computation Gradient Features vector of (1.3.3) according to step (1.3.1);
(1.4.3) taking the Gradient Features vector of all vehicle mark things of obtaining in step (1.4.1) as positive sample, train random forest sorter taking the Gradient Features vector of all vehicle background image pieces of obtaining in step (1.4.2) for negative sample, the sorter training is vehicle mark thing detecting device, can detect the vehicle mark object image piece in image block to be identified.
6. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, is characterized in that, described step (2..1) is specially:
Concentrate all annual test marks that obtain by the method for artificial mark at training image, sunshading board, the vehicle such as ornament and paper towel box mark area image piece forms respectively annual test mark image block collection, sunshading board image block collection, ornament image block collection and paper towel box image block collection, concentrate at training image the image block that in the background area in every training image, random acquisition yardstick is 50 × 50, all image blocks that gather in background area are as the concentrated background image piece collection of vehicle mark thing sorter training sample, the annual test mark image block collection obtaining, sunshading board image block collection, ornament image block collection, paper towel box image block collection and background image piece collection have just formed the training image blocks collection of vehicle mark thing sorter.
7. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, is characterized in that, described step (2.2) is specially:
(2.2.1) each image block of vehicle mark thing sorter training image blocks being concentrated carries out change of scale, makes its width and is highly 50 pixels;
(2.2.2) training image blocks after change of scale is divided into 25 regions, the size in each region is 10 × 10;
(2.2.3) to a the region of dividing, calculate the wherein histograms of oriented gradients feature of each pixel, be designated as hog
a=[H
1, H
2..., H
m], wherein M is the interval number of default histograms of oriented gradients, its HOG proper vector is all calculated in 25 regions dividing, and all proper vectors are stitched together, and obtains the HOG proper vector of training image blocks, is hog=[hog
1, hog
2..., hog
25], hog proper vector is the vector of 25 × M dimension;
(2.2.4) to a the region of dividing, calculate the wherein local binary patterns feature of each pixel, all LBP features that calculate are carried out to statistics with histogram, obtain the LBP proper vector in this region, be designated as lbp
a=[L
1, L
2..., L
p], wherein P is the interval number of the statistic histogram of default LBP proper vector, its LBP proper vector is all calculated in 25 regions dividing, and all proper vectors are stitched together, and obtains the LBP proper vector of training image blocks, is lbp=[lbp
1, lbp
2..., lbp
25], lbp proper vector is the vector of 25 × P dimension;
(2.2.5) to a the region of dividing, the gray-scale value of three passages of red, green, blue to all pixels in this region does statistics with histogram respectively, obtains the statistic histogram of three passages, is designated as respectively r
a=[R
1, R
2..., R
q], g
a=[G
1, G
2..., G
q], b
a=[B
1, B
2..., B
q], wherein Q is the interval number of the gray-scale value statistic histogram of default three passages of red, green, blue, and the statistic histogram of three passages is stitched together, and obtains the color histogram feature in this region, is designated as rgb
a=[r
a, g
a, b
a], be the vector of a 3 × Q; Its color histogram feature is all calculated in 25 regions dividing, and all proper vectors are stitched together, just obtain the color histogram proper vector of training image blocks, be rgb=[rgb
1, rgb
2..., rgb
25], be the vector of 75 × Q dimension;
(2.2.6) the HOG proper vector of the training image blocks calculating, LBP proper vector and color histogram proper vector are stitched together, obtain the mark proper vector of training image blocks, be f=[hog, lbp, rgb].
8. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, is characterized in that, described step (3.2) is specially:
(3.2.1) to car windshield image I te to be detected, be 1 collection N kind different scale images piece by step-length, the yardstick of image block is
wherein N is default image block yardstick number, and i represents the index value of different images piece yardstick, Wid
iand Hei
ifor i default convergent-divergent yardstick Scale
iwidth and height, be empirical value;
(3.2.2) to the image block gathering, obtain the gradient subgraph SGte in same coordinate region in the gradient map that car windshield image I te is corresponding;
(3.2.3) the gradient subgraph SGte obtaining is carried out to yardstick convergent-divergent, make its width and be highly 8 pixels, and be converted into gradient vector VGte, in gradient vector VGte, the value of vm dimension is VGte (vm)=SGte (xm, ym), wherein SGte (xm, ym) represent that gradient subgraph SGte is at coordinate points (xm, ym) value of locating, vm=xm+8 × ym, the vectorial VGte that so just can obtain one 64 dimension, vectorial VGte is the Gradient Features vector of the image block obtaining in car windshield image to be detected;
(3.2.4), to upper each image block gathering of test pattern Ite, all obtain the Gradient Features vector of image block according to (3.2.2) to (3.2.3) step.
9. the vehicle mark object detecting method based on two layers of classified according to claim 1 and 2, is characterized in that, described step (3.3) is specially:
Utilize the random forest sorter training in step (1) to classify to the image block Gradient Features vector obtaining, so just the image block in test pattern is divided into vehicle mark thing and background two kinds, the image block that is wherein divided into vehicle mark thing is candidate's vehicle mark object image piece.
10. the vehicle mark quality testing examining system based on two layers of classified, it is characterized in that, described system comprises vehicle mark object image piece detecting device training module, vehicle mark thing sorter training module, candidate's vehicle mark object image piece acquisition module and vehicle mark thing sort module, wherein:
Described vehicle mark object image piece detecting device training module, be used for the vehicle mark object image piece detecting device of the mark of training inspection vehicle windshield image, specifically comprise that vehicle mark thing and background area obtain submodule, car windshield image gradient figure calculating sub module, vehicle mark thing and background area Gradient Features vector calculation submodule and random forest sorter training submodule, wherein:
Described vehicle mark thing and background area obtain submodule, for to the concentrated car windshield image of training image, obtain position and the size information of vehicle mark thing in car windshield image, obtain vehicle mark object area and background area in image;
Described car windshield image gradient figure calculating sub module, for calculating gradient map corresponding to car windshield image;
Described vehicle mark thing and background area Gradient Features vector calculation submodule, for calculating the Gradient Features vector of vehicle mark thing and background area;
Described random forest sorter training submodule, for utilizing the vehicle mark thing that obtains and the Gradient Features vector of background area, training random forest sorter, the random forest sorter that training obtains is as the vehicle mark object image piece detecting device of the mark in inspection vehicle windshield image;
Described vehicle mark thing sorter training module, for training the vehicle mark thing sorter that vehicle mark thing is classified, specifically comprises vehicle mark thing and background area proper vector calculating sub module and vehicle mark thing sorter training submodule, wherein:
Described vehicle mark thing and background area proper vector calculating sub module, the vehicle mark object area obtaining for calculation training image set and HOG proper vector, LBP proper vector and the color histogram proper vector of background area, and above-mentioned three proper vectors are spliced into the mark proper vector of image block;
Described vehicle mark thing sorter training submodule, the mark proper vector training multi-class support vector machine sorter of the image block being spliced into for HOG proper vector, LBP proper vector and the color histogram proper vector of utilizing vehicle mark object area and background area to calculate;
Described candidate's vehicle mark object image piece acquisition module, for utilizing the vehicle mark object image piece detector acquisition candidate vehicle mark object image piece training, specifically comprise that car windshield image gradient figure calculating sub module, image block gather submodule, image block Gradient Features vector calculation submodule and candidate's vehicle mark object image piece and obtain submodule, wherein:
Described car windshield image gradient figure calculating sub module, for calculating gradient map corresponding to car windshield image to be detected;
Described image block gathers submodule, for gathering the image block of 4 kinds of different scales in the car windshield image to be detected;
Described image block Gradient Features vector calculation submodule, for calculating the Gradient Features vector of the image block gathering in car windshield image to be detected;
Described candidate's vehicle mark object image piece obtains submodule, for utilizing the vehicle mark thing detector acquisition candidate's who trains vehicle mark object image piece;
Described vehicle mark thing sort module, for distinguishing different classes of vehicle mark thing, specifically comprises mark proper vector calculating sub module and candidate's vehicle mark object image block classifier submodule of candidate's vehicle mark object image piece, wherein:
The mark proper vector calculating sub module of described candidate's vehicle mark object image piece, for calculating HOG proper vector, LBP proper vector and the color histogram proper vector of the candidate's vehicle mark object image piece obtaining, and above-mentioned three proper vectors are spliced into the mark proper vector of image block;
Described candidate's vehicle mark object image block sort submodule, for utilizing vehicle mark thing sorter to classify to the mark proper vector of candidate's vehicle mark object image piece, obtains the classification results of candidate's vehicle mark object image piece.
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